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Removal, cable harness, lower arm, frame and base
3HAC023082-001 Revision: E
Action
12. Gently pull the cable harness out from the
upper arm tube.
13. Tie the connectors into bundles, to avoid
damaging them during further removal.
14. Continue removing the cable harness as
detailed in following procedure.
Action
1. Remove the rear cover plate from the robot by
removing its attachment screws.
2. Disconnect the earth cable beneath.
3. Disconnect connectors R1.MP and R1.SMB.
4. Pull the cable and connectors up through the
cable guide in the center of the frame.
5. Disconnect all connectors at motor 1 and
motor 2.
6. Open the SMB cover carefully.
The cable between the battery and the SMB-
unit may stay connected, in order to avoid an
update of the revolution counter. Be careful not
to let the weight of the cover strain the cable!
In order to remove the cover completely, the
connector R1.G must be disconnected! This
causes a necessary updating of the revolution
counter!
7. Disconnect connectors R2.SMB, R1.SMB1-3,
R1.SMB4-6 from the SMB unit.
Disconnect X8, X9 and X10 from the brake
release unit.
4.3.1. Replacement of cable harness, axes 1-6
Note/Illustration
Note/Illustration
Shown in the figure
harness on page
Shown in the figure
harness on page
xx0200000118
4 Repair
Continued
Location of cable
228.
Location of cable
228.
Continues on next page
231
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